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<div class="title">octree_pointcloud_occupancy.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_OCCUPANCY_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_OCCUPANCY_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;             <span class="keyword">typename</span> LeafContainerT = OctreeContainerEmpty,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;             <span class="keyword">typename</span> BranchContainerT = OctreeContainerEmpty &gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">   62</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">OctreePointCloudOccupancy</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;PointT, LeafContainerT,</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        BranchContainerT, OctreeBase&lt;LeafContainerT, BranchContainerT&gt; &gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="comment">// public typedefs for single/double buffering</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">OctreePointCloudOccupancy&lt;PointT, LeafContainerT, BranchContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">SingleBuffer</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">OctreePointCloudOccupancy&lt;PointT, LeafContainerT, BranchContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">DoubleBuffer</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="comment">// public point cloud typedefs</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a1a6d7a6d6d169ba12ca6ae11192c73bd">   80</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a1a6d7a6d6d169ba12ca6ae11192c73bd">OctreePointCloudOccupancy</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution_arg) :</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt;LeafContainerT, BranchContainerT&gt; &gt; (resolution_arg)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a4203b1d11598b72af067b4fb23a0d3e5">   88</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a4203b1d11598b72af067b4fb23a0d3e5">~OctreePointCloudOccupancy</a> ()</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a0be22e9710658e5960c77594edd99c4e">   95</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a0be22e9710658e5960c77594edd99c4e">setOccupiedVoxelAtPoint</a>( <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg ) {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <span class="comment">// make sure bounding box is big enough</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">adoptBoundingBoxToPoint</a> (point_arg);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <span class="comment">// generate key</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            <span class="comment">// add point to octree at key</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a> (key);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#ae12b0606df7f1b7fd9c993eb7303dceb">  111</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#ae12b0606df7f1b7fd9c993eb7303dceb">setOccupiedVoxelsAtPointsFromCloud</a>( PointCloudPtr cloud_arg ) {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <span class="keywordflow">for</span> (i = 0; i &lt; cloud_arg-&gt;points.size (); i++)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;              <span class="comment">// check for NaNs</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;              <span class="keywordflow">if</span> (isFinite(cloud_arg-&gt;points[i])) {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                <span class="comment">// set voxel at point</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a0be22e9710658e5960c77594edd99c4e">setOccupiedVoxelAtPoint</a> (cloud_arg-&gt;points[i]);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;              }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      };</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy&lt;T&gt;;</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a></div><div class="ttdoc">Octree class</div><div class="ttdef"><b>Definition:</b> octree_base.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a62ea5ae9440654d09b0db929675ed5da"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">pcl::octree::OctreeBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0fd10260bace75f9c753ef42f74f9027"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">pcl::octree::OctreePointCloud&lt; PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase&lt; OctreeContainerEmpty, OctreeContainerEmpty &gt; &gt;::adoptBoundingBoxToPoint</a></div><div class="ttdeci">void adoptBoundingBoxToPoint(const PointT &amp;point_idx_arg)</div><div class="ttdoc">Grow the bounding box/octree until point fits</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:417</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ad34b5c6655fdcf9ed4da21ac8a973e5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">pcl::octree::OctreePointCloud&lt; PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase&lt; OctreeContainerEmpty, OctreeContainerEmpty &gt; &gt;::genOctreeKeyforPoint</a></div><div class="ttdeci">void genOctreeKeyforPoint(const PointT &amp;point_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Generate octree key for voxel at a given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:680</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_occupancy_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html">pcl::octree::OctreePointCloudOccupancy</a></div><div class="ttdoc">Octree pointcloud occupancy class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_occupancy.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_occupancy_html_a0be22e9710658e5960c77594edd99c4e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a0be22e9710658e5960c77594edd99c4e">pcl::octree::OctreePointCloudOccupancy::setOccupiedVoxelAtPoint</a></div><div class="ttdeci">void setOccupiedVoxelAtPoint(const PointT &amp;point_arg)</div><div class="ttdoc">Set occupied voxel at point.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_occupancy.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_occupancy_html_a1a6d7a6d6d169ba12ca6ae11192c73bd"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a1a6d7a6d6d169ba12ca6ae11192c73bd">pcl::octree::OctreePointCloudOccupancy::OctreePointCloudOccupancy</a></div><div class="ttdeci">OctreePointCloudOccupancy(const double resolution_arg)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_occupancy.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_occupancy_html_a4203b1d11598b72af067b4fb23a0d3e5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#a4203b1d11598b72af067b4fb23a0d3e5">pcl::octree::OctreePointCloudOccupancy::~OctreePointCloudOccupancy</a></div><div class="ttdeci">virtual ~OctreePointCloudOccupancy()</div><div class="ttdoc">Empty class constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_occupancy.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_occupancy_html_ae12b0606df7f1b7fd9c993eb7303dceb"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_occupancy.html#ae12b0606df7f1b7fd9c993eb7303dceb">pcl::octree::OctreePointCloudOccupancy::setOccupiedVoxelsAtPointsFromCloud</a></div><div class="ttdeci">void setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)</div><div class="ttdoc">Set occupied voxels at all points from point cloud.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_occupancy.h:111</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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